/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "gpio.h"
#include <math.h>



/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "bsp_dwt.h"
#include "motor_simulation.h"

typedef struct
{
    float setpoint;
    float Kp;
    float Ki;
    float Kd;
    float integral;
		float error;
    float last_error;
    float output;
	  float limit_integral;
	  float limit_output_max;
		float limit_output_min;
//	  float ramp_rate; 
} PID;

motorObject_t Motor;
PID velocity_pid;

uint32_t DWT_CNT;
float dt;
float t;
float Current;
float Velocity;
float Angle;
float Input;

#define AMPLITUDE 10.0f
#define OUTPUT_AMPLITUDE_RATIO 0.707f
#define Pai 3.14f
#define DISTURBANCE 10.0f;
#define ANGLE_REF 0.0f
float omega = 7.3f;
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
void PID_Init(PID *pid, float Kp, float Ki, float Kd)
{
    pid->setpoint = 0 ;
    pid->Kp = Kp;
    pid->Ki = Ki;
    pid->Kd = Kd;
    pid->integral = 0;    // ???
    pid->last_error = 0;  // ??????
    pid->output = 0;
	  pid->limit_integral = 10;
	  pid->limit_output_max = 550;
		pid->limit_output_min = 490;
//	  pid->ramp_rate = ramp_rate;


} // PID??????

void PID_Calculate(PID *pid, float process_value,float dt) // PID???
{
    float error;
    float d_error;

    error = pid->setpoint - process_value;
    pid->integral += error*dt; //??????

		//
	  if (pid->integral > pid->limit_integral)
		{
			pid->integral=pid->limit_integral;
		}
		else if(pid->integral < -pid->limit_integral)
		{
			pid->integral = -pid->limit_integral;
		}
		
		if (dt < 1e-6)
		{
    dt = 1e-6; 
    }
		d_error = (error - pid->last_error)/dt;

    pid->output = pid->Kp * error + pid->Ki * pid->integral + pid->Kd * d_error;
		
		
    pid->last_error = error;
}
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
	t = 0;
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */
DWT_Init(72);//DWT??????
Motor_Object_Init(&Motor);//?????
PID_Init(&velocity_pid,8,4,5);
//omega = 1.0f;

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		    dt = DWT_GetDeltaT(&DWT_CNT);//??DWT?????????
    t += dt;
		
		velocity_pid.setpoint = AMPLITUDE * sin(omega * t);
		
    Current = Get_Motor_Current(&Motor);//??????
    Velocity = Get_Motor_Velocity(&Motor);//??????
		
		
		PID_Calculate(&velocity_pid,Velocity,dt);
		Input = velocity_pid.output;
		
    Motor_Simulation(&Motor,Input,dt);//??????????,?????
		HAL_Delay(1);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
